Some of these heroes were ancestors and founders of later noble Houses and institutions. This age is so-named for the great heroes who were said to live at this time and perform immense deeds. The Age of Heroes lasted for about four millennia, from the signing of the Pact until the Andal Invasion 6,000 years ago. It began approximately 10,000 years ago with the sealing of the Pact, which brought about peace between the First Men and the Children of the Forest at the end of the preceding era, known as the Dawn Age. The Age of Heroes is an epoch in the history of Westeros.
A mask for a savage world that bred savage men.' ―Lord Roose Bolton ' Singers call those times the Age of Heroes.